Magnetic stabilization system



Sept. 14, 1954 D. G. c. HARE MAGNETIC STABILIZATION SYSTEM 3 Sheets-Sheet 1 Filed March 31, 1944 INVENTOR Dona/d 6. C. Hare BY ATTOR Y Sept. 14, 1954 D. G. c. HARE MAGNETIC STABILIZATION SYSTEM 5 Sheets-Sheet 2 Filed March 31, 1944 NMQ INVENTOR Dona/d G. C. Hare.

ATTORNEY Sept. 14, 1954 D. G. c. HARE MAGNETIC STABILIZATION SYSTEM 3 Sheets-Sheet I5 Filed March 31, 1944 "IIIIY 28 Allan.

V'IYI' r .LQNQRSQ wk km W Kw m3 h .WI td I Q I 15 Q v .6 I 3 6 I 2 5 I m c n. "NH (5 5 LQxQRGQQ INVENTOR Dana/d G. 6. Hare ATT Patented Sept. 14, 1954 MAGNETIC STABILIZATION SYSTEM Donald G. C. Hare, Roslyn, N. Y., assignor to the United States of America as represented by the Secretary of the Navy Application March 31, 1944, Serial No. 529,003

This invention relates to a magnetic stabilization system adapted for maintaining a plane substantially perpendicular to a relatively uniform magnetic field, and more particularly to a magnetic stabilization system adapted to maintain the magnetometer element of a portable magnetometer in parallel with the earths magnetic field.

Various arrangements have been proposed in the past for insuring alignment of the magnetometer element with the earths magnetic field in spite of movements of the base supporting the magnetometer. One arrangement which has found some application, especially in aircraft, relies upon a pendulum to maintain vertical orientation. This system has the disadvantage that gravitational pull is aifected by centrifugal tion system which is completely automatic in oporation and which, when used in connection with a magnetometer for measuring the strength of the earth's magnetic field, maintains the magnetometer element in substantially exact alignment with the earths magnetic field in spite of changes in the position of the base on which it is mounted.

In accordance with the present invention, means are provided for maintaining a plane substantially perpendicular to a relatively uniform magnetic field, and these means comprise first and second magnetometer elements disposed with their axes mutually forming an angle other than zero and at least one at an angle other than 90 to the plane, together with means responsive to the output of the first magnetometer element due to the magnetic field for rotating the plane about a first axis not parallel to the axis of the first magnetometer element, and means responsive to the output of the second magnetometer element due to the magnetic field for rotating the 2 Claims. (Cl. 32443) plane about a second axis not parallel to the axis reference is made to the following description taken in connection with the accompanying drawings, and its scope will be pointed out in the appended claims.

In the accompanying drawings:

Fig. 1 shows, partly in block form, a magnetic stabilization system in accordance with the present invention;

Fig. 2 shows, in block form, a recording magnetometer employing the magnetic stabilization system of the present invention; and

Fig. 3 shows, in block and schematic form, one channel of the magnetic stabilization system em ployed in the magnetometer of Fig. 2-.

Referring now more particularly to Fig. 1, there is shown a pair of magnetometer elements I and 2 mounted at either end of a shaft or rod 3 with their axes mutually at right angles in an imaginary plane I. Rod 3 is pivotally mounted in gimbal frame 5 and carries pulley 6. Gimbal frame 5 in turn is pivotally mounted on base I in such a manner as tobe free to rotate about an axis perpendicular to the axis of rod 3, and has attached to it pulley 8.

Belt- 9 engages pulley 6 and pulley II! which in turn is driven by motor I I. Pulley 8 is driven from pulley I2 by means of belt I3, pulley I2 being in turn driven by motor I4. Motor I I is energized from control unit I5 which in turn is controlled by magnetometer element 2. Similarly, motor I4 is energized from control unit I6 which is controlled by magnetometer element I.

By way of example of one particular use to which the system of the present invention may be put, detector magnetometer I! is shown mounted on pulley 6 in such a position that its axis is perpendicular respectively to the axes of magnetometer elements I and 2, and hence perpendicular to plane 4.

In operation, let it be assumed that it is desired to maintain detector magnetometer element I'I parallel with the earths magnetic field. Since the output of this magnetometer element varies as the cosine of the angle by which it-deviates from alignment with the magnetic field, its output will vary only slightly for small angles of deviation, and hence its position in space is relatively non-critical. It will be apparent that, when magnetometer element I1 is parallel with the earths magnetic field, magnetometer elements I and 2 will be disposed with their axes respectively perpendicular to the field. Since the output of a magnetometer element thus disposed is a function of the sine of the angle by which it deviates from true perpendicularity with the field, small deviations in the position of the element will produce relatively large changes in output, and the sense of these output changes will depend on the direction in which the element deviates. Advantage is taken, in accordance with the present invention, of these trigonometric relationsl'rlps.

While the above-described trigonometric relationships are utilized in a preferred embodiment of the invention, it is within the scope thereof to dispose one of the orienting magnetometers with its axis perpendicular to the plane which in turn is to be maintained perpendicular to the magnetic field. Such an arrangement, While somewhat less sensitive in orientation about one axis, nevertheless has the advantage that a single magnetometer element may be employed simultaneously as the detector magnetometer element and as one of the orienting mangentometer elements.

Referring again to Fig. 1, it-will be seen that the output of magnetometer clement :I is:utilized, by passing it through control unit :Ii, to rdetermine the direction in, land extentto, -which=gimbal frame ,5 will be rotated means 'of 111101301 14, pulley I2, belt 13, and pulley *8. Similarly, the output of magnetometer element 2 is utilized, by means of control unit :I5, v motor M, gpulley ifll, belt 3, and pulley 6, to control the direction in, and extent to, which [rod 3 will be rotated. operation, therefore, any deviation from perpendicularity of either of magnetometer elements I and 2 immediately causes a (movement of the proper direction and extent to restore the magnetometer element to the desired perpendicmar position. This in turn insures that detector magnetometer element I! tor example, iiscmaintained parallel with the earths magnetic field in spite of wide variations .in the position f base I such as might be caused when .base I is transported in .an airplane or other aircraft. I

Referring now to Fig. 2,, thereis shown a'magnetometer which employs a magnetic stabilization [system in accordance with the present invention. Magnetometer elements I, .2 and I1 have the same relative positions and are mounted as described in connection with .Fig. -1. The output .of detector magnetometer element I1, which is driven by element driver 18, supplies detector I9, the output of which in turn is led to recorder 2.0.

Detector magnetometer element I1 is maintained substantiallyinalignment with the earths magnetic field :by means .01. -a magnetic stabilization .system comprising .two substantially identical channels, here designated channel I and channel 11. Channel .1 comprises .a magnetometer element .I which is driven by element driver 21, and the output of which is supplied to D.-C. control unit .22. The latter unit in turn supplies rootor-control .unit 23, the output -.of which supplies one winding of two-phase motor I4, the other winding of which is energized from a suitable source of alternating current connected :at termina125. Motor I4 drives, by means .of belt I3, magnetometer element I,, and drives induction generator 2] by means of shaft 28. One windin of generator 21 is .supplied from source 25 and the other winding of generator 21 develops a voltage which is supplied to motor-control unit 23.

Channel 11 comprises element driver 29, magnetometer element 2., 'D.-C. control unit 31}, motor-control unit 3|, motor I I, and generator 33.

Motor II drives magnetometer element 2 by means of belt 9, and drives generator 33 by means of shaft 35. The output of generator 33 is supplied to motor-control unit 3|.

Since channels I and II are substantially identical in construction, their operation is similar. The operation of channel I only will therefore be described by way of example. Element driver 2.I supplies a pulsed driving voltage to magnetometer element I, to produce a pulsed signal :the characteristics of which are dependent upon the position of magnetometer element I with respectto the earths magnetic field. This out- .put is supplied to .D.-C. control unit 22 which in tum produces a direct-current output voltage dependent in :magnitude upon the input signal. Motor-control unit 23, which is responsive to the direct-current output voltage from unit 22, provides :a current of suitable phase and magnitude to energize motor I4, which then proceeds to move .in the direction and to the extent necessary to restore magnetometer element I to a position perpendicular to the earth's magnetic .field. in the event that it was not initially so positioned. Thelfunct'ion of generator 21 is merely to prevent hunting, by furnishing avol'tage which is roughly proportional to the velocity of rotation of motor I4, and which is so utilized in motor-control unit 23 as to counteract the tendency of motor I4 to overrim.

Itwill be understood that detector I3 and recorder 2.0 may be of any suitable design for utilizing the output of detector magnetometer element 'ITI to produce visual or graphical records of small changes in the strength of the magnetic field with which magnetometer element I1 is maintained in alignment. For a better understanding of actual circuit arrangements adapted to accomplish magnetic stabilization in accordance with the present invention, however, there is shown in Fig. '3 a somewhat more 'detailed circuit arrangement suitable for use "as channel I, for example, in the magnetometer of Fig. 2.

Referring now to Fig. '3, there is shown a driver comprising oscillator 36 connected to control grid 31 of thyratron 38, plate 3'3 of which is supplied from a source of positive potential indicated by 13+ through resistor 40. Plate 39 is by-passed to ground by capacitor 4I. Screen grid 42 of thyratron 38 is connected to a "source of negative potential with respect to ground as indicated by Cathode 43 10! thyratron '38 is connected to ground through primary windings 44 and 45 of magnetometer element I.

Magnetometer element I comprises a pair or barshaped ferromagnetic cores 4! and 41 "which, in addition to carrying respectivelyprimary'wind ings 44 and 45, also carry respectively secondary windings 48 and. The latter windings are connested in series as shown 'in the input circuit of class A amplifier 50. The output or'amplifier 50 is supplied to clipper '51 which comprises 'a vacuum tube operating in class C. The output o'f clipper 5| is amplified by class A amplifier 52 and rectified by diode detector 53, to produce "a direct-current voltage of the polarity indicated and having a magnitude dependent upon the strength of the magnetic field surrounding magnetometer element I.

of vacuum tube 55, by means of resistor 56. "The output voltage of detector 53 is also supplied to polarity'inverter '51, theoutput ofwhichis applied to control grid58 of vacuum tube 59 by means of resistor 69.

Cathodes 6| and 62,- respectively of vacuum tubes 55 and 59, are connected together and are connected to ground through resistor 63 shunted by capacitor 64; I

A source of alternating current is connected to terminals65 and 66. This voltage is applied, approximately in leading quadrature, to control grid 54 of vacuum tube 55, by means of capacitor Gland resistor 68, through capacitor 69. Similarly, the alternating-current voltage present at terminals 65 and 6B is applied to control grid 58 of vacuum tube -59 in lagging quadrature, by means of resistor 10 and capacitor 1|, through capacitor 12. I

Plates I3 and 14, respectively of vacuum tubes 55 and 59, are connected to a source of positive potential indicatedby 13+ respectively through series-connected resistors 15 and 76, and resistors l1 and 18. The junctions of resistors 15 and 16 and of resistors 11 and 18 are connected respectively to'plates "I9 and 80 of diode rectifiers 8| and 82. Cathodes 83 and 84, respectively of rectifiers BI and 82, are connected together and to the movable arm of potentiometer 85, which is connected between ground and B+, the latter point being by-passed to ground by capacitor 89.

The junctions ofresistors l5 and I6 and of resistors 11 and 18 are also connected, respectively through capacitors 81 and 88, together and to the input of amplifier 89. The output of amplifier 99 supplies winding 90 of two-phase motor M, the other winding 9| of which is connected to terminals 65. and 66. Motor l4 directly drives, by means of a shaft diagrammatically indicated by broken line 28, induction generator 21. Winding 92 of generator 21 is connected to terminals 65 and 66, and winding 93 has one terminal grounded and the other terminal connected to.

y In operation, oscillator 36 causes thyratron 38 periodically to becomeconductive and thus to permit the sudden discharge of capacitor 4|, which is recharged through resistor 49 as soon as thyratron'38 is rendered non-conductive. The periodic pulses in the current which flows through thyratron 38 producemagnetizing forces in cores 46 and 41 of-magnetometer element of sufiicient magnitudeto' carry these core members beyond magnetic saturation. As a result, a pulsed-signal voltage is induced in secondary windings '49 and 49, the exactcharacteristics of which are a function of the strength of the magnetic field surrounding magnetometer element I. After these signal pulses have been amplified by amplifier 59, they are clipped by clipper 5|, further amplified by amplifier 52, and rectified by rectifier 53.

The output voltage of detector 53 is utilized to control the amplification of vacuum tubes 55 and 59 in opposite senses, due to the operation of polarity inverter 51. For example, let it be assumed that the output voltage of detector 53 has the value which corresponds with zero magnetic field surrounding magnetometer element I. In this case, the direct-current voltage applied to control grids 54 and 58 will be such that both of tubes 55 and 59 are rendered substantially inoperative. Now let it be assumed that the output voltage of detector 53 increases in magnitude. Such an increase will merely bias control grid 54 of vacuum tube 55 more negatively, so that this tube remains substantially inoperative. On the other hand, due to the change in polarity which occurs in polarity inverter 51, an increase in the negative-output voltage of detector 53 will shift the bias voltage applied to control grid 58 of vacuum tube 59 in a positive direction, thereby rendering this tube operative. It Will be obvious that a decrease in the output voltage of detector 53 will have the opposite effect, namely tomaintain vacuum tube 59 substantially inoperative while rendering vacuum tube operative.

Assuming for the moment that vacuum tube 55 is operative, the alternating-current voltage which is applied to control grid 54 in leading phase relationship with respect to the alternatingcurrent voltage at terminals and 66 will be amplified by vacuum tube 55 and supplied to amplifier 89, which in turn will energize winding of motor I4 causing it to rotate in a given direction. It will be apparent that, had vacuum tube 59 instead of vacuum tube 55 been rendered operative, the alternating-current voltage supplied to amplifier 89 and hence to winding 90 would have been lagging in phase with respect to the alternating-current voltage at terminals 65 and 66, with the result that the motor would have rotated in the opposite direction.

Diode rectifiers 8| and 82 function as'limiters' to prevent overloading of amplifier 89 due to input-voltage peaks which might result from sudden changes in the operativeness of vacuum tubes 55 and 59. The point at which this limiting action begins is determined by the setting of poten-' tiometer B5.

The purpose of generator 21 is to minimize hunting. It is apparent that the voltage developed in winding 93 of generator 21 will be roughly proportional to the velocity of rotation of motor Hi. This voltage is supplied to amplifier 89 and so utilized within this unit as to counteract the tendency of motor 14 to overrun and hence to hunt. A mode of minimizing huntingwhich'can be used is shown by the U. S. patent to'Riggs 2,115,086. Many other arrangements for accomplishing the damping purpose will be clear to those skilled in the art. However, one manner that was used is to couple the generator output degeneratively to the same grid of amplifier 89 to which the output of tubes 9| and 82 are fed, both the latter output and that of the generator being fed through isolaing resistors (not shown).

In one successful embodiment of the invention, oscillator 36 operated at 200 cycles per second. The voltage at terminals 65 and 66 had a frequency of 60 cycles per second. Thyratron 38 was type 2050. Vacuum tubes 55 and 59 comprised a type 6N7 tube;.and diode rectifiers BI and 82, a type 6H6 tube. The following values of resistors and capacitors were employed:

It will be understood that tube types and component values different from those stated above may be employed without departing from the scope of the invention. For example, separate vacuum tubes may be employed instead of double 7 trtndccmidulmrbleiiiodcs slmh as those mentioned dlmwe by way of example.

In me rdescription and :drawings of the present invxemion, ithas been assumed tor simplicity of esphuation that the magnetometer elements, mm detectimand ,ior orientation, are of the tm employing a, relatively slender longitudinal bar a 'core material. it is to he understood. however, that [the invention may be employed equally successfully in systems using magnetometer-elements or other types, as for example the tygrewhichemploys a .rotatingcoil without a fornonmagnetic acore. When magnetometer elements of such other types are-employed, they are preferably disposed with their axes so positioned ithat the detector magnetometer element will have a relatively uncritical position and the orienting magnetometer elements relatively critical :positlona. The exact physical arrangement neces- W to carry out this requirement depends upon the particular type of magnetometer elements which are employed, and the proper arrangement wil beireadily apparent to ithoseskilled in the art, in the lighter the present disclosure. The substitution of such other types of magnetometer elements with the corresponding necessary changes in their relative :positions, therefore, falls within the scope of the present invention.

In order that this disclosure may clearly .be understood to specifically encompass such alternative arrangements, the expression axis of magnetometer element is declared to be used herein #to mean that axis of the magnetometer element to which a-given magnetic field must be parallel in order to produce the maximum response irom' the magnetometer element.

While-there has been described what is at present considered the preferred embodiment of the invention, it will heobvious to those skilled in the art that 'various changes and modifications may he made therein without departing from the invention, and it is, therefore, aimed :in "the appended claims tocover all such changes and modifications as fall within the true spirit and scopeof the invention.

, Having thus fully described ,my invention, I

and molar-ic dependent upon the amount and direction of deviation, respectively, responsive to the polarity of the senm'ated nutmtial imvdeterrninlrrg the direction or stab said last mentioned means comprising discharge devices having cathodes, rflll-dl and plates with rtheircathodes ennnectadto aaohnther and to ground, the grid of one at the electron discharge devices being connected to the output signalirom thedetoctim and :ampliming means. a polarity "inverter, the {grid at the other electron discharge device being connected through the polarity inverter to said output sigmd, a .-m of alternating voltage, said alternating voltage also being applied to eachToI saldmnds in amdetermined phase relationship, and a secondmplifler, the output ah-om the plates o! the electron discharge devices being connected to said second amplifier areversible stabilizing .motor connected to the output of saidisecondiamphflcr, oaldmcim' being mechanically linked to said meets: element forrmoadngsaidmerrolatin to the magnetic field in response to the potentill generated in response to the deviation 0! aid magnetomcteriromisaidmagnetic field.

2. ,In a circuit as .set forth in claim Lgenerab ing means coupled to said stabilizing motormnd supplying .apotential which is proportional to the speed of rotation or thestabilizlng motor. the output at said generating means being to .saidsecond amplifier degeneratively to decrease the output signal supplied 1mm said amplifier do said stabilizing motor means to thereby prevent hunting of the stabilizing motor.

References Cited in the TUE 91 this patent UNITED STATES PAI'ENDS Vacquieret-al. my 29, @981 

